<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from urdf/genie.robot.xacro         | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="genie">
  <!-- Index -->
  <!-- body: [G1, G2] -->
  <!-- gripper: [dummy_hand, omnipicker, 120s, roh, skillhands6] -->
  <!-- <xacro:arg name="robot_model" default="G1" />
  <xacro:arg name="robot_model" default="G1" /> -->
  <!-- robot -->
  <!-- Material Definition -->
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="green">
    <color rgba="0.0 1.0 0.0 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
  </material>
  <material name="brown">
    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <!-- transparent is not working properly -->
  <material name="transparent">
    <color rgba="1.0 1.0 1.0 0.999"/>
  </material>
  <material name="default">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
  </material>
  <!-- links -->
  <link name="base_link">
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.0134486971267798 0.00152103941353612 -0.0320076754329413"/>
      <mass value="23.2085382238952"/>
      <inertia ixx="0.386955641760608" ixy="0.000135417314593726" ixz="0.00669301645720665" iyy="0.366800407621218" iyz="0.000105713634260505" izz="0.546852919828475"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/base_link.fbx"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <!-- <collision>
        <origin
          rpy="0.0 0.0 0.0"
          xyz="-0.10913086 0.0 0.51171875" />
        <geometry>
          <box size="0.29833984 0.3376392 1.0" />
        </geometry>
      </collision>
      <collision>
        <origin
          rpy="0.0 0.0 0.0"
          xyz="0.0 0.0 0.15" />
        <geometry>
          <box size="0.5996094 0.449 0.30273438" />
        </geometry>
      </collision> -->
  </link>
  <link name="body_link1">
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.0338351537064605 -0.00248044044451858 0.000838431095422365"/>
      <mass value="3.26275452360108"/>
      <inertia ixx="0.0128301877197417" ixy="8.24967996575627e-06" ixz="1.38254543337324e-05" iyy="0.006104110250297" iyz="-7.99392548994692e-06" izz="0.0111721084996867"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/body_link1.fbx"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <!-- <collision>
        <origin
          rpy="0.0 0.0 0.0"
          xyz="0.10278320000000002 0.1 -0.013671875" />
        <geometry>
          <box size="0.16064453 0.05555534399999999 0.1328125" />
        </geometry>
      </collision>
      <collision>
        <origin
          rpy="0.0 0.0 0.0"
          xyz="0.10180664 -0.1 0.0" />
        <geometry>
          <box size="0.16259765999999998 0.04375648500000001 0.16015625" />
        </geometry>
      </collision> -->
  </link>
  <link name="body_link2">
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.193733558855111 -0.000484180179482319 -0.00124011422952511"/>
      <mass value="7.53199207979272"/>
      <inertia ixx="0.016546682835947" ixy="0.000274441382484697" ixz="0.00102757387076422" iyy="0.0445441227006132" iyz="-0.000236858278708531" izz="0.0402036337794082"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/body_link2.fbx"/>
      </geometry>
      <origin rpy="0.0 0.0 -1.5707963267948966" xyz="0.0 0.0 0.0"/>
    </visual>
    <!-- <collision>
        <origin
          rpy="0 0 0"
          xyz="0.0068359375 -0.00034356117 0.0" />
        <geometry>
          <cylinder radius="0.09662318" length="0.08697056999999997" />
        </geometry>
      </collision>
      <collision>
        <origin
          xyz="0.0068359375 -0.00034356117 0.043485284999999985" />
        <geometry>
          <sphere radius="0.09662318" />
        </geometry>
      </collision>
      <collision>
        <origin
          xyz="0.0068359375 -0.00034356117 -0.043485284999999985" />
        <geometry>
          <sphere radius="0.09662318" />
        </geometry>
      </collision>
      <collision>
        <origin
          rpy="0.0 0.0 -${PI_2}"
          xyz="0.008 -0.248 0.0" />
        <geometry>
          <box size="0.34570312 0.18107724 0.3125" />
        </geometry>
      </collision> -->
  </link>
  <link name="head_link1">
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.0446068140025754 0.00241753143645124 0.0528373754603559"/>
      <mass value="0.414342871921048"/>
      <inertia ixx="0.000158695728344024" ixy="-1.04590928109554e-06" ixz="-6.58530903139189e-06" iyy="0.000117742864399469" iyz="-2.65011299996072e-06" izz="0.000170947040827065"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/head_link1.fbx"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
  </link>
  <link name="head_link2">
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.0257009265816389 0.0316254080188787 -3.77390122592164e-05"/>
      <mass value="0.707063977171202"/>
      <inertia ixx="0.00205409595373573" ixy="0.000347730118005016" ixz="-2.13857752451204e-06" iyy="0.00200357281313449" iyz="5.16150600423908e-08" izz="0.00184999028444405"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/head_link2.fbx"/>
      </geometry>
      <origin rpy="-3.141592653589793 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <!-- <collision>
        <geometry>
          <sphere radius="0.11257068650657154" />
        </geometry>
        <origin
          xyz="0.011500973396434619 -0.0252600143348118 0.0008537154007319386"
          rpy="0.0 0.0 0.0" />
      </collision> -->
  </link>
  <link name="arm_base_link"/>
  <link name="arm_l_base_link">
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.00020641 0.00057488 0.032296"/>
      <mass value="0.37595"/>
      <inertia ixx="0.00024335" ixy="1.2188e-06" ixz="-2.4281e-06" iyy="0.00024039" iyz="6.6932e-06" izz="0.00032195"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_base_link.fbx"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <!-- <collision>
        <geometry>
          <cylinder radius="0.05426921699310094" length="0.09134995751082897" />
        </geometry>
        <origin
          xyz="-0.0017106435846521925 0.0013720927967423996 0.02822502050548792"
          rpy="0.0 0.0 0.0" />
      </collision> -->
  </link>
  <link name="arm_r_base_link">
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.00020641 -0.00057488 0.034396"/>
      <mass value="0.37595"/>
      <inertia ixx="0.00024335" ixy="1.2188e-06" ixz="2.4281e-06" iyy="0.00024039" iyz="-6.6932e-06" izz="0.00032195"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_base_link.fbx"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <!-- <collision>
        <geometry>
          <cylinder radius="0.05447215073540005" length="0.0913499565795064" />
        </geometry>
        <origin
          xyz="0.001163549527588341 -0.0020492302944608923 0.030325019266456366"
          rpy="0.0 0.0 0.0" />
      </collision> -->
  </link>
  <!-- joints waist -->
  <joint name="idx01_body_joint1" type="prismatic">
    <parent link="base_link"/>
    <child link="body_link1"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.6485"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="100.0" lower="0.0" upper="0.55" velocity="0.1"/>
  </joint>
  <joint name="idx02_body_joint2" type="revolute">
    <parent link="body_link1"/>
    <child link="body_link2"/>
    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.131 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="100.0" lower="0.0" upper="1.5707963267948966" velocity="0.5"/>
  </joint>
  <!-- joints head -->
  <joint name="idx11_head_joint1" type="revolute">
    <parent link="body_link2"/>
    <child link="head_link1"/>
    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.441 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="50.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
  </joint>
  <joint name="idx12_head_joint2" type="revolute">
    <parent link="head_link1"/>
    <child link="head_link2"/>
    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.050238 0.0 0.060065"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="50.0" lower="-0.3490658503988659" upper="0.5235987755982988" velocity="1.0"/>
  </joint>
  <!-- joints arm base -->
  <joint name="idx10_arm_base_joint" type="fixed">
    <parent link="body_link2"/>
    <child link="arm_base_link"/>
    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.305 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
  </joint>
  <joint name="idx11_arm_l_base_joint" type="fixed">
    <parent link="arm_base_link"/>
    <child link="arm_l_base_link"/>
    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.025 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
  </joint>
  <joint name="idx12_arm_r_base_joint" type="fixed">
    <parent link="arm_base_link"/>
    <child link="arm_r_base_link"/>
    <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 -0.025 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
  </joint>
  <!-- properties -->
  <!-- links -->
  <link name="arm_l_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0012655 -0.00043778 -0.018388"/>
      <mass value="0.4936"/>
      <inertia ixx="0.00075396" ixy="6.6935e-06" ixz="6.1141e-06" iyy="0.00065755" iyz="1.2196e-06" izz="0.00031848"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link1.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.16642063483595848" radius="0.05579268228774888"/>
      </geometry>
      <origin rpy="0.0 0.0 -1.2566370614359172" xyz="0.0026814433577366636 0.0006133775157398935 -0.04071124829351902"/>
    </collision>
  </link>
  <link name="arm_l_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="5.3037e-05 -0.078258 0.0047084"/>
      <mass value="0.46245"/>
      <inertia ixx="0.00065719" ixy="3.7112e-07" ixz="-3.6668e-06" iyy="0.00043459" iyz="-2.517e-05" izz="0.00072571"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link2.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.044062052 0.0009765625"/>
      <geometry>
        <cylinder length="0.18085919" radius="0.06302423"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_l_link3">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0012032 0.0008714 -0.055265"/>
      <mass value="0.50026"/>
      <inertia ixx="0.0013016" ixy="3.1401e-06" ixz="1.4255e-05" iyy="0.001427" iyz="2.4361e-05" izz="0.00033587"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link3.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="3.141592653589793 -1.2246467991473532e-16 2.5132741228718345" xyz="-0.002745052027917949 0.000636008250640886 -0.07223940640687943"/>
      <geometry>
        <cylinder length="0.22069887816905975" radius="0.05423258091998755"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_l_link4">
    <inertial>
      <origin rpy="0 0 0" xyz="3.7035e-05 -0.06248 0.0025377"/>
      <mass value="0.27473"/>
      <inertia ixx="0.00029284" ixy="4.6615e-07" ixz="6.2359e-08" iyy="0.00018853" iyz="-1.1062e-06" izz="0.00031238"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link4.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.03817895 -0.0043945312"/>
      <geometry>
        <cylinder length="0.154955404" radius="0.057891708"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_l_link5">
    <inertial>
      <origin rpy="0 0 0" xyz="-7.9404e-07 -0.00023094 -0.024143"/>
      <mass value="0.25139"/>
      <inertia ixx="0.00023516" ixy="-1.3496e-09" ixz="-2.0314e-08" iyy="0.00028808" iyz="-1.2106e-05" izz="0.00013069"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link5.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 -0.6283185307179586" xyz="0.00013161953185003987 -5.835551655943335e-05 -0.033305803313851357"/>
      <geometry>
        <cylinder length="0.13452399894595146" radius="0.045614576801007695"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_l_link6">
    <inertial>
      <origin rpy="0 0 0" xyz="1.769e-06 -0.086692 0.0025571"/>
      <mass value="0.26634"/>
      <inertia ixx="0.00031434" ixy="-2.9254e-09" ixz="1.0017e-07" iyy="0.00014464" iyz="-2.0329e-05" izz="0.0003245"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link6.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="-5.990089690983079e-19 -1.4805425285141327 -1.5677635369963552" xyz="0.0002549462426528953 -0.055477687883556816 -0.0019394332157672595"/>
      <geometry>
        <cylinder length="0.1816599826988493" radius="0.048507387167967514"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_l_end_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-7.5113e-05 -0.00024521 -0.016705"/>
      <mass value="0.06158"/>
      <inertia ixx="1.8407e-05" ixy="3.4796e-08" ixz="-3.2424e-09" iyy="1.818e-05" iyz="1.1327e-07" izz="2.8547e-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link7.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="3.141592653589793 -1.2246467991473532e-16 3.141592653589793" xyz="-4.552953707661759e-05 -0.002300474691790042 -0.02249999972991645"/>
      <geometry>
        <cylinder length="0.045999998692423105" radius="0.030799950382754494"/>
      </geometry>
    </collision>
  </link>
  <!-- joints -->
  <joint name="idx21_arm_l_joint1" type="revolute">
    <parent link="arm_l_base_link"/>
    <child link="arm_l_link1"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.1859"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="60.0" lower="-3.14" upper="3.14" velocity="3.14"/>
  </joint>
  <joint name="idx22_arm_l_joint2" type="revolute">
    <parent link="arm_l_link1"/>
    <child link="arm_l_link2"/>
    <origin rpy="-1.5707963267948966 0.0 1.5707963267948966" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="60.0" lower="-2.09" upper="1.48" velocity="3.14"/>
  </joint>
  <joint name="idx23_arm_l_joint3" type="revolute">
    <parent link="arm_l_link2"/>
    <child link="arm_l_link3"/>
    <origin rpy="-1.5707963267948966 1.5707963267948966 3.141592653589793" xyz="0.0 -0.305 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="60.0" lower="-3.10" upper="3.10" velocity="3.14"/>
  </joint>
  <joint name="idx24_arm_l_joint4" type="revolute">
    <parent link="arm_l_link3"/>
    <child link="arm_l_link4"/>
    <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="60.0" lower="-1.48" upper="1.48" velocity="3.14"/>
  </joint>
  <joint name="idx25_arm_l_joint5" type="revolute">
    <parent link="arm_l_link4"/>
    <child link="arm_l_link5"/>
    <origin rpy="-1.5707963267948966 0.0 -3.141592653589793" xyz="0.0 -0.1975 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
  </joint>
  <joint name="idx26_arm_l_joint6" type="revolute">
    <parent link="arm_l_link5"/>
    <child link="arm_l_link6"/>
    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="30.0" lower="-1.74" upper="1.74" velocity="3.14"/>
  </joint>
  <joint name="idx27_arm_l_joint7" type="revolute">
    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.1805 0.0"/>
    <parent link="arm_l_link6"/>
    <child link="arm_l_end_link"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
  </joint>
  <!-- properties -->
  <!-- links -->
  <link name="arm_r_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0012679 -0.0001581 -0.018109"/>
      <mass value="0.4936"/>
      <inertia ixx="0.00075396" ixy="-2.4144e-06" ixz="-1.8364e-06" iyy="0.0006605" iyz="1.2174e-06" izz="0.00031553"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link1.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="-3.141592653589793 -1.2246467991473535e-16 1.2566370614359175" xyz="0.00018724019569230644 -0.002004870648449318 -0.04071185737848282"/>
      <geometry>
        <cylinder length="0.16642716526985168" radius="0.0548390473201415"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_r_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00044207 -0.082298 0.00019486"/>
      <mass value="0.41662"/>
      <inertia ixx="0.00054592" ixy="4.7265e-06" ixz="2.4946e-06" iyy="0.00039507" iyz="-2.0629e-05" izz="0.00057791"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link2.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.044062052 0.0009765625"/>
      <geometry>
        <cylinder length="0.18085919" radius="0.06302423"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_r_link3">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0010558 4.4416e-05 -0.056128"/>
      <mass value="0.49413"/>
      <inertia ixx="0.0013405" ixy="-6.8527e-07" ixz="-1.3381e-05" iyy="0.00142" iyz="2.8511e-05" izz="0.00037605"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link3.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0006559932284637068 -2.2628975236450855e-05 -0.07219303026795387"/>
      <geometry>
        <cylinder length="0.22061403840780258" radius="0.05216156143823925"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_r_link4">
    <inertial>
      <origin rpy="0 0 0" xyz="2.4212e-05 -0.06248 0.002536"/>
      <mass value="0.27473"/>
      <inertia ixx="0.00029283" ixy="4.5586e-07" ixz="5.8042e-08" iyy="0.00018852" iyz="-1.116e-06" izz="0.00031238"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link4.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.03817895 -0.0043945312"/>
      <geometry>
        <cylinder length="0.154955404" radius="0.057891708"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_r_link5">
    <inertial>
      <origin rpy="0 0 0" xyz="2.6223e-06 -0.00023041 -0.024141"/>
      <mass value="0.25139"/>
      <inertia ixx="0.00023516" ixy="-6.5868e-09" ixz="-1.9428e-08" iyy="0.00028807" iyz="-1.2108e-05" izz="0.00013068"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link5.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.00022255510134868567 -4.227476414728204e-05 -0.03344946540892124"/>
      <geometry>
        <cylinder length="0.13423806056380272" radius="0.04562028545392604"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_r_link6">
    <inertial>
      <origin rpy="0 0 0" xyz="5.0382e-06 -0.086696 0.002556"/>
      <mass value="0.26634"/>
      <inertia ixx="0.00031434" ixy="-1.2113e-09" ixz="1.0011e-07" iyy="0.00014464" iyz="-2.033e-05" izz="0.00032449"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link6.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 -1.4835107730827122 -1.56897465223053" xyz="-1.7782549414354032e-05 -0.05507596972928094 -0.0017447156928267265"/>
      <geometry>
        <cylinder length="0.18272488500982115" radius="0.04857149291994264"/>
      </geometry>
    </collision>
  </link>
  <link name="arm_r_end_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-7.5134e-05 -0.00024521 -0.016705"/>
      <mass value="0.06158"/>
      <inertia ixx="1.8407e-05" ixy="3.4818e-08" ixz="-3.2902e-09" iyy="1.818e-05" iyz="1.1326e-07" izz="2.8547e-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link7.fbx"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="3.141592653589793 -1.2246467991473532e-16 3.141592653589793" xyz="-4.552953707661759e-05 -0.002300474691790042 -0.02249999972991645"/>
      <geometry>
        <cylinder length="0.045999998692423105" radius="0.030799950382754494"/>
      </geometry>
    </collision>
  </link>
  <!-- joints -->
  <joint name="idx61_arm_r_joint1" type="revolute">
    <parent link="arm_r_base_link"/>
    <child link="arm_r_link1"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.188"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="60.0" lower="-3.14" upper="3.14" velocity="3.14"/>
  </joint>
  <joint name="idx62_arm_r_joint2" type="revolute">
    <parent link="arm_r_link1"/>
    <child link="arm_r_link2"/>
    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="60.0" lower="-1.48" upper="2.09" velocity="3.14"/>
  </joint>
  <joint name="idx63_arm_r_joint3" type="revolute">
    <parent link="arm_r_link2"/>
    <child link="arm_r_link3"/>
    <origin rpy="-1.5707963267948966 -1.5707963267948966 3.141592653589793" xyz="0.0 -0.305 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="60.0" lower="-3.10" upper="3.10" velocity="3.14"/>
  </joint>
  <joint name="idx64_arm_r_joint4" type="revolute">
    <parent link="arm_r_link3"/>
    <child link="arm_r_link4"/>
    <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="60.0" lower="-1.48" upper="1.48" velocity="3.14"/>
  </joint>
  <joint name="idx65_arm_r_joint5" type="revolute">
    <parent link="arm_r_link4"/>
    <child link="arm_r_link5"/>
    <origin rpy="-1.5707963267948966 0.0 -3.141592653589793" xyz="0.0 -0.1975 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
  </joint>
  <joint name="idx66_arm_r_joint6" type="revolute">
    <parent link="arm_r_link5"/>
    <child link="arm_r_link6"/>
    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="30.0" lower="-1.74" upper="1.74" velocity="3.14"/>
  </joint>
  <joint name="idx67_arm_r_joint7" type="revolute">
    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.1805 0.0"/>
    <parent link="arm_r_link6"/>
    <child link="arm_r_end_link"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
  </joint>
  <link name="gripper_l_base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"/>
      <mass value="0.443105756928829"/>
      <inertia ixx="0.00064200574020552" ixy="-1.51180224931458E-07" ixz="7.24174172220287E-09" iyy="0.00066998312004943" iyz="2.73584170951165E-09" izz="0.000278949393571484"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_l_outer_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
      <mass value="0.0112899386472626"/>
      <inertia ixx="1.96944973967669E-06" ixy="6.42395813223716E-07" ixz="-1.07950451056367E-14" iyy="1.39704780795747E-06" iyz="-1.48209813327181E-14" izz="2.47457179553145E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_l_outer_link3">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
      <mass value="0.0112899386472626"/>
      <inertia ixx="1.96944973967669E-06" ixy="6.42395813223716E-07" ixz="-1.07950451056367E-14" iyy="1.39704780795747E-06" iyz="-1.48209813327181E-14" izz="2.47457179553145E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_l_outer_link4">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"/>
      <mass value="0.0140092102116716"/>
      <inertia ixx="4.13674978137002E-06" ixy="9.81573398608352E-07" ixz="-2.87921970465553E-11" iyy="1.1362453186293E-06" iyz="2.94726072168702E-11" izz="4.10226218364235E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_l_outer_link5">
    <inertial>
      <origin rpy="0 0 0" xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"/>
      <mass value="0.00332411394949541"/>
      <inertia ixx="5.5867126170785E-07" ixy="2.9966962370347E-20" ixz="1.44978830317617E-23" iyy="1.45407135182096E-07" iyz="-1.60867378777053E-21" izz="4.18250297449997E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_l_outer_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"/>
      <mass value="0.00803955821311802"/>
      <inertia ixx="1.15079028835042E-06" ixy="1.13853775681911E-07" ixz="-1.79492796413463E-10" iyy="4.68655200337902E-07" iyz="-4.49903912976825E-10" izz="8.47367915692972E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_l_inner_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"/>
      <mass value="0.00803955821311803"/>
      <inertia ixx="1.15079028835042E-06" ixy="1.13853775681912E-07" ixz="-1.79492796413511E-10" iyy="4.68655200337903E-07" iyz="-4.49903912976901E-10" izz="8.47367915692974E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_l_inner_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
      <mass value="0.0112899386472626"/>
      <inertia ixx="1.96944973967663E-06" ixy="6.42395813223747E-07" ixz="-1.07950449101923E-14" iyy="1.39704780795753E-06" iyz="-1.48209815851649E-14" izz="2.47457179553146E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_l_inner_link3">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
      <mass value="0.0112899386472626"/>
      <inertia ixx="1.96944973967663E-06" ixy="6.42395813223747E-07" ixz="-1.07950449101923E-14" iyy="1.39704780795753E-06" iyz="-1.48209815851649E-14" izz="2.47457179553146E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_l_inner_link4">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"/>
      <mass value="0.0140092102116716"/>
      <inertia ixx="4.13674978136988E-06" ixy="9.81573398608576E-07" ixz="-2.87921970465403E-11" iyy="1.13624531862944E-06" iyz="2.94726072165632E-11" izz="4.10226218364236E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_l_inner_link5">
    <inertial>
      <origin rpy="0 0 0" xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"/>
      <mass value="0.00332411394949542"/>
      <inertia ixx="5.58671261707851E-07" ixy="3.06066210315894E-20" ixz="1.70379713307979E-23" iyy="1.45407135182096E-07" iyz="-1.65096420438087E-21" izz="4.18250297449998E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx41_gripper_l_outer_joint1" type="revolute">
    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.032553 0 0.10644"/>
    <parent link="gripper_l_base_link"/>
    <child link="gripper_l_outer_link1"/>
    <axis xyz="0 0 -1"/>
    <limit effort="10" lower="0" upper="1" velocity="4.1887902047863905"/>
  </joint>
  <joint name="idx42_gripper_l_outer_joint3" type="revolute">
    <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
    <parent link="gripper_l_outer_link1"/>
    <child link="gripper_l_outer_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
  </joint>
  <joint name="idx43_gripper_l_outer_joint4" type="revolute">
    <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
    <parent link="gripper_l_outer_link3"/>
    <child link="gripper_l_outer_link4"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
  </joint>
  <joint name="idx44_gripper_l_outer_joint5" type="fixed">
    <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
    <parent link="gripper_l_outer_link4"/>
    <child link="gripper_l_outer_link5"/>
    <axis xyz="0 0 0"/>
  </joint>
  <joint name="idx49_gripper_l_outer_joint2" type="revolute">
    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.017 0 0.122"/>
    <parent link="gripper_l_base_link"/>
    <child link="gripper_l_outer_link2"/>
    <axis xyz="0 0 -1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
  </joint>
  <joint name="idx39_gripper_l_inner_joint2" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0.017 0 0.122"/>
    <parent link="gripper_l_base_link"/>
    <child link="gripper_l_inner_link2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="-1" offset="0"/>
  </joint>
  <joint name="idx31_gripper_l_inner_joint1" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0.032553 0 0.10644"/>
    <parent link="gripper_l_base_link"/>
    <child link="gripper_l_inner_link1"/>
    <axis xyz="0 0 -1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
  </joint>
  <joint name="idx32_gripper_l_inner_joint3" type="revolute">
    <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
    <parent link="gripper_l_inner_link1"/>
    <child link="gripper_l_inner_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
  </joint>
  <joint name="idx33_gripper_l_inner_joint4" type="revolute">
    <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
    <parent link="gripper_l_inner_link3"/>
    <child link="gripper_l_inner_link4"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
  </joint>
  <joint name="idx34_gripper_l_inner_joint5" type="fixed">
    <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
    <parent link="gripper_l_inner_link4"/>
    <child link="gripper_l_inner_link5"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- Gripper Connector -->
  <joint name="idx61_ee_l_joint" type="fixed">
    <parent link="arm_l_end_link"/>
    <child link="gripper_l_base_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="gripper_l_center_link">
    </link>
  <joint name="idx52_gripper_l_center_joint" type="fixed">
    <origin rpy="0 0 -1.5707963267948966" xyz="0.0 0.0 0.1"/>
    <parent link="gripper_l_base_link"/>
    <child link="gripper_l_center_link"/>
  </joint>
  <!-- Gripper Finger Close-loop Structure -->
  <loop_joint name="idx53_gripper_l_outer_joint0" type="spherical">
    <link1 link="gripper_l_outer_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
    <link2 link="gripper_l_outer_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
    <axis xyz="0 0 -1"/>
  </loop_joint>
  <loop_joint name="idx54_gripper_l_inner_joint0" type="spherical">
    <link1 link="gripper_l_inner_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
    <link2 link="gripper_l_inner_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
    <axis xyz="0 0 1"/>
  </loop_joint>
  <link name="gripper_r_base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"/>
      <mass value="0.443105756928829"/>
      <inertia ixx="0.00064200574020552" ixy="-1.51180224931458E-07" ixz="7.24174172220287E-09" iyy="0.00066998312004943" iyz="2.73584170951165E-09" izz="0.000278949393571484"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_r_outer_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
      <mass value="0.0112899386472626"/>
      <inertia ixx="1.96944973967669E-06" ixy="6.42395813223716E-07" ixz="-1.07950451056367E-14" iyy="1.39704780795747E-06" iyz="-1.48209813327181E-14" izz="2.47457179553145E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_r_outer_link3">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
      <mass value="0.0112899386472626"/>
      <inertia ixx="1.96944973967669E-06" ixy="6.42395813223716E-07" ixz="-1.07950451056367E-14" iyy="1.39704780795747E-06" iyz="-1.48209813327181E-14" izz="2.47457179553145E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_r_outer_link4">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"/>
      <mass value="0.0140092102116716"/>
      <inertia ixx="4.13674978137002E-06" ixy="9.81573398608352E-07" ixz="-2.87921970465553E-11" iyy="1.1362453186293E-06" iyz="2.94726072168702E-11" izz="4.10226218364235E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_r_outer_link5">
    <inertial>
      <origin rpy="0 0 0" xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"/>
      <mass value="0.00332411394949541"/>
      <inertia ixx="5.5867126170785E-07" ixy="2.9966962370347E-20" ixz="1.44978830317617E-23" iyy="1.45407135182096E-07" iyz="-1.60867378777053E-21" izz="4.18250297449997E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_r_outer_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"/>
      <mass value="0.00803955821311802"/>
      <inertia ixx="1.15079028835042E-06" ixy="1.13853775681911E-07" ixz="-1.79492796413463E-10" iyy="4.68655200337902E-07" iyz="-4.49903912976825E-10" izz="8.47367915692972E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_r_inner_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"/>
      <mass value="0.00803955821311803"/>
      <inertia ixx="1.15079028835042E-06" ixy="1.13853775681912E-07" ixz="-1.79492796413511E-10" iyy="4.68655200337903E-07" iyz="-4.49903912976901E-10" izz="8.47367915692974E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_r_inner_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
      <mass value="0.0112899386472626"/>
      <inertia ixx="1.96944973967663E-06" ixy="6.42395813223747E-07" ixz="-1.07950449101923E-14" iyy="1.39704780795753E-06" iyz="-1.48209815851649E-14" izz="2.47457179553146E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_r_inner_link3">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
      <mass value="0.0112899386472626"/>
      <inertia ixx="1.96944973967663E-06" ixy="6.42395813223747E-07" ixz="-1.07950449101923E-14" iyy="1.39704780795753E-06" iyz="-1.48209815851649E-14" izz="2.47457179553146E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_r_inner_link4">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"/>
      <mass value="0.0140092102116716"/>
      <inertia ixx="4.13674978136988E-06" ixy="9.81573398608576E-07" ixz="-2.87921970465403E-11" iyy="1.13624531862944E-06" iyz="2.94726072165632E-11" izz="4.10226218364236E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_r_inner_link5">
    <inertial>
      <origin rpy="0 0 0" xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"/>
      <mass value="0.00332411394949542"/>
      <inertia ixx="5.58671261707851E-07" ixy="3.06066210315894E-20" ixz="1.70379713307979E-23" iyy="1.45407135182096E-07" iyz="-1.65096420438087E-21" izz="4.18250297449998E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx81_gripper_r_outer_joint1" type="revolute">
    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.032553 0 0.10644"/>
    <parent link="gripper_r_base_link"/>
    <child link="gripper_r_outer_link1"/>
    <axis xyz="0 0 -1"/>
    <limit effort="10" lower="0" upper="1" velocity="4.1887902047863905"/>
  </joint>
  <joint name="idx82_gripper_r_outer_joint3" type="revolute">
    <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
    <parent link="gripper_r_outer_link1"/>
    <child link="gripper_r_outer_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
  </joint>
  <joint name="idx83_gripper_r_outer_joint4" type="revolute">
    <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
    <parent link="gripper_r_outer_link3"/>
    <child link="gripper_r_outer_link4"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
  </joint>
  <joint name="idx84_gripper_r_outer_joint5" type="fixed">
    <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
    <parent link="gripper_r_outer_link4"/>
    <child link="gripper_r_outer_link5"/>
    <axis xyz="0 0 0"/>
  </joint>
  <joint name="idx89_gripper_r_outer_joint2" type="revolute">
    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.017 0 0.122"/>
    <parent link="gripper_r_base_link"/>
    <child link="gripper_r_outer_link2"/>
    <axis xyz="0 0 -1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
  </joint>
  <joint name="idx79_gripper_r_inner_joint2" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0.017 0 0.122"/>
    <parent link="gripper_r_base_link"/>
    <child link="gripper_r_inner_link2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="-1" offset="0"/>
  </joint>
  <joint name="idx71_gripper_r_inner_joint1" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0.032553 0 0.10644"/>
    <parent link="gripper_r_base_link"/>
    <child link="gripper_r_inner_link1"/>
    <axis xyz="0 0 -1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
  </joint>
  <joint name="idx72_gripper_r_inner_joint3" type="revolute">
    <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
    <parent link="gripper_r_inner_link1"/>
    <child link="gripper_r_inner_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
  </joint>
  <joint name="idx73_gripper_r_inner_joint4" type="revolute">
    <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
    <parent link="gripper_r_inner_link3"/>
    <child link="gripper_r_inner_link4"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
  </joint>
  <joint name="idx74_gripper_r_inner_joint5" type="fixed">
    <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
    <parent link="gripper_r_inner_link4"/>
    <child link="gripper_r_inner_link5"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- Gripper Connector -->
  <joint name="idx91_ee_r_joint" type="fixed">
    <parent link="arm_r_end_link"/>
    <child link="gripper_r_base_link"/>
    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
    <axis xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="gripper_r_center_link">
    </link>
  <joint name="idx92_gripper_r_center_joint" type="fixed">
    <origin rpy="0 0 -1.5707963267948966" xyz="0.0 0.0 0.1"/>
    <parent link="gripper_r_base_link"/>
    <child link="gripper_r_center_link"/>
  </joint>
  <!-- Gripper Finger Close-loop Structure -->
  <loop_joint name="idx93_gripper_r_outer_joint0" type="spherical">
    <link1 link="gripper_r_outer_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
    <link2 link="gripper_r_outer_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
    <axis xyz="0 0 -1"/>
  </loop_joint>
  <loop_joint name="idx94_gripper_r_inner_joint0" type="spherical">
    <link1 link="gripper_r_inner_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
    <link2 link="gripper_r_inner_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
    <axis xyz="0 0 1"/>
  </loop_joint>
  <!-- Eastern Eggs -->
  <!-- All Together -->
</robot>
